AlphaFilter: move from ecl -> mathlib

src/lib/battery/battery.h

@@ -52,7 +52,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
-#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/battery_status.h>
 

src/lib/ecl/CMakeLists.txt

@@ -95,6 +95,11 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
 
 	add_custom_target(prebuild_targets)
 
+	# temporary
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../mathlib/math/filter/AlphaFilter.hpp ${CMAKE_CURRENT_BINARY_DIR}/mathlib/math/filter/AlphaFilter.hpp COPYONLY)
+
+	include_directories(${CMAKE_CURRENT_BINARY_DIR})
+
 	if(MSVC)
 		add_compile_options(
 			/W4

src/lib/ecl/EKF/estimator_interface.h

@@ -44,7 +44,6 @@
 #include <ecl.h>
 #include "common.h"
 #include "RingBuffer.h"
-#include <AlphaFilter/AlphaFilter.hpp>
 #include "imu_down_sampler.hpp"
 #include "sensor_range_finder.hpp"
 #include "utils.hpp"
@@ -52,6 +51,7 @@
 #include <geo/geo.h>
 #include <matrix/math.hpp>
 #include <mathlib/mathlib.h>
+#include <mathlib/math/filter/AlphaFilter.hpp>
 
 using namespace estimator;
 

src/lib/ecl/test/CMakeLists.txt

@@ -42,7 +42,6 @@ set(SRCS
 	test_EKF_ringbuffer.cpp
 	test_EKF_measurementSampling.cpp
 	test_EKF_imuSampling.cpp
-	test_AlphaFilter.cpp
 	test_EKF_fusionLogic.cpp
 	test_EKF_initialization.cpp
 	test_EKF_gps_yaw.cpp

src/lib/mathlib/CMakeLists.txt

@@ -38,7 +38,8 @@ px4_add_library(mathlib
 	math/filter/NotchFilter.hpp
 )
 
-px4_add_unit_gtest(SRC math/filter/LowPassFilter2pVector3fTest.cpp LINKLIBS mathlib)
-px4_add_unit_gtest(SRC math/filter/MedianFilterTest.cpp)
-px4_add_unit_gtest(SRC math/filter/NotchFilterTest.cpp)
+px4_add_unit_gtest(SRC math/test/LowPassFilter2pVector3fTest.cpp LINKLIBS mathlib)
+px4_add_unit_gtest(SRC math/test/AlphaFilterTest.cpp)
+px4_add_unit_gtest(SRC math/test/MedianFilterTest.cpp)
+px4_add_unit_gtest(SRC math/test/NotchFilterTest.cpp)
 px4_add_unit_gtest(SRC math/FunctionsTest.cpp)

src/lib/mathlib/math/test/AlphaFilterTest.cpp

@@ -41,7 +41,7 @@
 #include <cmath>
 #include <matrix/math.hpp>
 
-#include "AlphaFilter/AlphaFilter.hpp"
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 
 using matrix::Vector3f;
 
@@ -63,9 +63,11 @@ TEST(AlphaFilterTest, runZero)
 {
 	AlphaFilter<float> filter_float{};
 	const float input = 0.f;
+
 	for (int i = 0; i < 10; i++) {
 		filter_float.update(input);
 	}
+
 	ASSERT_EQ(filter_float.getState(), input);
 }
 
@@ -147,6 +149,7 @@ TEST(AlphaFilterTest, convergenceVector3f)
 
 	// THEN the state of the filter should have converged to the input (1% error allowed)
 	Vector3f output = filter_v3.getState();
+
 	for (int i = 0; i < 3; i++) {
 		ASSERT_NEAR(output(i), input(i), fabsf(0.01f * input(i)));
 	}
@@ -168,6 +171,7 @@ TEST(AlphaFilterTest, convergenceVector3fAlpha)
 
 	// THEN the state of the filter should have reached 65% (2% error allowed)
 	Vector3f output = filter_v3.getState();
+
 	for (int i = 0; i < 3; i++) {
 		ASSERT_NEAR(output(i), 0.63f * input(i), fabsf(0.02f * input(i)));
 	}
@@ -184,12 +188,14 @@ TEST(AlphaFilterTest, convergenceVector3fTauDt)
 
 	// WHEN we run the filter (1 * time constant)
 	const float n = tau / dt;
+
 	for (int i = 0; i < n; i++) {
 		filter_v3.update(input);
 	}
 
 	// THEN the state of the filter should have reached 65% (2% error allowed)
 	Vector3f output = filter_v3.getState();
+
 	for (int i = 0; i < 3; i++) {
 		ASSERT_NEAR(output(i), 0.63f * input(i), fabsf(0.02f * input(i)));
 	}

src/lib/mathlib/math/test/LowPassFilter2pVector3fTest.cpp

@@ -40,7 +40,7 @@
 #include <matrix/matrix/math.hpp>
 #include <px4_platform_common/defines.h>
 
-#include "LowPassFilter2p.hpp"
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
 
 using matrix::Vector3f;
 

src/lib/mathlib/math/test/MedianFilterTest.cpp

@@ -40,7 +40,7 @@
 #include <matrix/matrix/math.hpp>
 #include <mathlib/mathlib.h>
 
-#include "MedianFilter.hpp"
+#include <lib/mathlib/math/filter/MedianFilter.hpp>
 
 using namespace math;
 using matrix::Vector3f;

src/lib/mathlib/math/test/NotchFilterTest.cpp

@@ -39,7 +39,7 @@
 #include <gtest/gtest.h>
 #include <matrix/matrix/math.hpp>
 
-#include "NotchFilter.hpp"
+#include <lib/mathlib/math/filter/NotchFilter.hpp>
 
 using namespace math;
 using matrix::Vector3f;

src/lib/tecs/TECS.hpp

@@ -41,7 +41,7 @@
 
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
-#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 
 class TECS
 {

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -41,7 +41,7 @@
 
 #include "FlightTask.hpp"
 #include "Sticks.hpp"
-#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <uORB/Subscription.hpp>
 
 class FlightTaskManualAltitude : public FlightTask

src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp

@@ -40,7 +40,7 @@
 #pragma once
 
 #include <px4_platform_common/module_params.h>
-#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <matrix/math.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/takeoff_status.h>

src/modules/mc_att_control/mc_att_control.hpp

@@ -54,7 +54,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_land_detected.h>
 #include <vtol_att_control/vtol_type.h>
-#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
 
 #include <AttitudeControl.hpp>